Iterative control strategies for nonlinear systems

Process control strategies for constrained nonlinear systems

Nonlinear Control Strategies for Cooperative Control of Multi–robot Systems

This thesis deals with distributed control strategies for cooperative control of multi–robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots. The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a comple...

Singularity Computation for Iterative Control of Nonlinear Affine Systems

This paper considers a gradient type of iterative algorithm applied to the open loop control for nonlinear affine systems. The convergence of the algorithm relies on the control signal in each iteration be nonsingular. We present an algorithm for computing the singular control for a general class of nonlinear affine systems. Various nonlinear mechanical systems, including nonholonomic systems, ...

Optimal Control of Nonlinear Multivariable Systems

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...

Optimal Control and Estimation Strategies for Nonlinear and Switched Systems

Optimal Control and Estimation Strategies for Nonlinear and Switched Systems Mehdi Abedinpour Fallah This dissertation includes two main parts. In the first part, the main contribution is to use an inverse optimality approach to analytically solve the Hamilton-Jacobi-Bellman equation of a third order nonlinear optimal control problem for which the dynamics are affine and the cost is quadratic i...